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<div class="title">marching_cubes_rbf.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_IMPL_MARCHING_CUBES_RBF_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_SURFACE_IMPL_MARCHING_CUBES_RBF_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/marching_cubes_rbf.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/common/vector_average.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/Vertices.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes_r_b_f.html#a458032a048c70aa0b2eadc349cf96a60">   50</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes_r_b_f.html#a458032a048c70aa0b2eadc349cf96a60">pcl::MarchingCubesRBF&lt;PointNT&gt;::MarchingCubesRBF</a> ()</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  : <a class="code" href="classpcl_1_1_marching_cubes.html">MarchingCubes</a>&lt;PointNT&gt; (),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    off_surface_epsilon_ (0.1f)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes_r_b_f.html#a48b0229ccb52ca74d77967d4c36c7e57">   58</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes_r_b_f.html#a48b0229ccb52ca74d77967d4c36c7e57">pcl::MarchingCubesRBF&lt;PointNT&gt;::~MarchingCubesRBF</a> ()</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;}</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes_r_b_f.html#a001bd88d085a87b049e37aa3c38255e7">   64</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes_r_b_f.html#a001bd88d085a87b049e37aa3c38255e7">pcl::MarchingCubesRBF&lt;PointNT&gt;::voxelizeData</a> ()</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;{</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Initialize data structures</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> N = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (input_-&gt;size ());</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  Eigen::MatrixXd M (2*N, 2*N),</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                  d (2*N, 1);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> row_i = 0; row_i &lt; 2*N; ++row_i)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">// boolean variable to determine whether we are in the off_surface domain for the rows</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">bool</span> row_off = (row_i &gt;= N) ? 1 : 0;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> col_i = 0; col_i &lt; 2*N; ++col_i)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="comment">// boolean variable to determine whether we are in the off_surface domain for the columns</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keywordtype">bool</span> col_off = (col_i &gt;= N) ? 1 : 0;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      M (row_i, col_i) = <a class="code" href="classpcl_1_1kernel.html">kernel</a> (Eigen::Vector3f (input_-&gt;points[col_i%N].getVector3fMap ()).cast&lt;<span class="keywordtype">double</span>&gt; () + Eigen::Vector3f (input_-&gt;points[col_i%N].getNormalVector3fMap ()).cast&lt;<span class="keywordtype">double</span>&gt; () * col_off * off_surface_epsilon_,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                                 Eigen::Vector3f (input_-&gt;points[row_i%N].getVector3fMap ()).cast&lt;<span class="keywordtype">double</span>&gt; () + Eigen::Vector3f (input_-&gt;points[row_i%N].getNormalVector3fMap ()).cast&lt;<span class="keywordtype">double</span>&gt; () * row_off * off_surface_epsilon_);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    d (row_i, 0) = row_off * off_surface_epsilon_;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// Solve for the weights</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  Eigen::MatrixXd w (2*N, 1);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="comment">// Solve_linear_system (M, d, w);</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  w = M.fullPivLu ().solve (d);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  std::vector&lt;double&gt; weights (2*N);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  std::vector&lt;Eigen::Vector3d, Eigen::aligned_allocator&lt;Eigen::Vector3d&gt; &gt; centers (2*N);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; N; ++i)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    centers[i] = Eigen::Vector3f (input_-&gt;points[i].getVector3fMap ()).cast&lt;<span class="keywordtype">double</span>&gt; ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    centers[i + N] = Eigen::Vector3f (input_-&gt;points[i].getVector3fMap ()).cast&lt;<span class="keywordtype">double</span>&gt; () + Eigen::Vector3f (input_-&gt;points[i].getNormalVector3fMap ()).cast&lt;double&gt; () * off_surface_epsilon_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    weights[i] = w (i, 0);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    weights[i + N] = w (i + N, 0);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; res_x_; ++x)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; res_y_; ++y)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z = 0; z &lt; res_z_; ++z)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        Eigen::Vector3d point;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        point[0] = min_p_[0] + (max_p_[0] - min_p_[0]) * <span class="keywordtype">float</span> (x) / float (res_x_);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        point[1] = min_p_[1] + (max_p_[1] - min_p_[1]) * <span class="keywordtype">float</span> (y) / float (res_y_);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        point[2] = min_p_[2] + (max_p_[2] - min_p_[2]) * <span class="keywordtype">float</span> (z) / float (res_z_);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">double</span> f = 0.0;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        std::vector&lt;double&gt;::const_iterator w_it (weights.begin());</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;Eigen::Vector3d, Eigen::aligned_allocator&lt;Eigen::Vector3d&gt; &gt;::const_iterator c_it = centers.begin ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;             c_it != centers.end (); ++c_it, ++w_it)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          f += *w_it * <a class="code" href="classpcl_1_1kernel.html">kernel</a> (*c_it, point);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        grid_[x * res_y_*res_z_ + y * res_z_ + z] = float (f);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT&gt; <span class="keywordtype">double</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_marching_cubes_r_b_f.html#ac696c137eb4acd0c70413d96e9af7b10">  123</a></span>&#160;<a class="code" href="classpcl_1_1_marching_cubes_r_b_f.html#ac696c137eb4acd0c70413d96e9af7b10">pcl::MarchingCubesRBF&lt;PointNT&gt;::kernel</a> (Eigen::Vector3d c, Eigen::Vector3d x)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;{</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">double</span> r = (x - c).norm ();</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keywordflow">return</span> (r * r * r);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_MarchingCubesRBF(T) template class PCL_EXPORTS pcl::MarchingCubesRBF&lt;T&gt;;</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SURFACE_IMPL_MARCHING_CUBES_HOPPE_H_</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_html"><div class="ttname"><a href="classpcl_1_1_marching_cubes.html">pcl::MarchingCubes</a></div><div class="ttdoc">The marching cubes surface reconstruction algorithm. This is an abstract class that takes a grid and ...</div><div class="ttdef"><b>Definition:</b> marching_cubes.h:364</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_r_b_f_html_a001bd88d085a87b049e37aa3c38255e7"><div class="ttname"><a href="classpcl_1_1_marching_cubes_r_b_f.html#a001bd88d085a87b049e37aa3c38255e7">pcl::MarchingCubesRBF::voxelizeData</a></div><div class="ttdeci">void voxelizeData()</div><div class="ttdoc">Convert the point cloud into voxel data.</div><div class="ttdef"><b>Definition:</b> marching_cubes_rbf.hpp:64</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_r_b_f_html_a458032a048c70aa0b2eadc349cf96a60"><div class="ttname"><a href="classpcl_1_1_marching_cubes_r_b_f.html#a458032a048c70aa0b2eadc349cf96a60">pcl::MarchingCubesRBF::MarchingCubesRBF</a></div><div class="ttdeci">MarchingCubesRBF()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> marching_cubes_rbf.hpp:50</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_r_b_f_html_a48b0229ccb52ca74d77967d4c36c7e57"><div class="ttname"><a href="classpcl_1_1_marching_cubes_r_b_f.html#a48b0229ccb52ca74d77967d4c36c7e57">pcl::MarchingCubesRBF::~MarchingCubesRBF</a></div><div class="ttdeci">~MarchingCubesRBF()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> marching_cubes_rbf.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_marching_cubes_r_b_f_html_ac696c137eb4acd0c70413d96e9af7b10"><div class="ttname"><a href="classpcl_1_1_marching_cubes_r_b_f.html#ac696c137eb4acd0c70413d96e9af7b10">pcl::MarchingCubesRBF::kernel</a></div><div class="ttdeci">double kernel(Eigen::Vector3d c, Eigen::Vector3d x)</div><div class="ttdoc">the Radial Basis Function kernel.</div><div class="ttdef"><b>Definition:</b> marching_cubes_rbf.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> kernel.h:46</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
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